Sistem Pengendali On-Off Disturbance Rejection

Erro
NO Set Point r Level KP KI KD CO SSE
1640.2
0 50 40.5 9.5 0 0 0 100 5
1640.2
1 50 40.5 9.5 0 0 0 100 5
1536.6
2 50 39.2 10.8 0 0 0 100 4
1383.8
3 50 37.2 12.8 0 0 0 100 4
1383.8
4 50 37.2 12.8 0 0 0 100 4
1267.3
5 50 35.6 14.4 0 0 0 100 6
6 50 34 16 0 0 0 100 1156
1095.6
7 50 33.1 16.9 0 0 0 100 1
8 50 31 19 0 0 0 100 961
9 50 29.7 20.3 0 0 0 100 882.09
10 50 28.2 21.8 0 0 0 100 795.24
11 50 28.2 21.8 0 0 0 100 795.24
12 50 27.2 22.8 0 0 0 100 739.84
13 50 25.6 24.4 0 0 0 100 655.36
14 50 25.6 24.4 0 0 0 100 655.36
15 50 24.3 25.7 0 0 0 100 590.49
16 50 22 28 0 0 0 100 484
17 50 20.5 29.5 0 0 0 100 420.25
18 50 20.5 29.5 0 0 0 100 420.25
19 50 19.2 30.8 0 0 0 100 368.64
20 50 16.8 33.2 0 0 0 100 282.24
21 50 15.9 34.1 0 0 0 100 252.81
22 50 14.2 35.8 0 0 0 100 201.64
23 50 14.2 35.8 0 0 0 100 201.64
24 50 12.6 37.4 0 0 0 100 158.76
25 50 10.3 39.7 0 0 0 100 106.09
26 50 8.9 41.1 0 0 0 100 79.21
27 50 8 42 0 0 0 100 64
28 50 6.9 43.1 0 0 0 100 47.61
29 50 5.8 44.2 0 0 0 100 33.64
30 50 4.9 45.1 0 0 0 100 24.01
31 50 3.3 46.7 0 0 0 100 10.89
32 50 2 48 0 0 0 100 4
33 50 0.7 49.3 0 0 0 100 0.49
34 50 -0.5 50.5 0 0 0 0 0.25
35 50 -1.2 51.2 0 0 0 0 1.44
36 50 -1.2 51.2 0 0 0 0 1.44
37 50 -2 52 0 0 0 0 4
38 50 0.7 49.3 0 0 0 100 0.49
39 50 0.7 49.3 0 0 0 100 0.49
40 50 -4.5 54.5 0 0 0 0 20.25
41 50 -0.8 50.8 0 0 0 0 0.64
42 50 -0.7 50.7 0 0 0 0 0.49
43 50 -0.7 50.7 0 0 0 0 0.49
44 50 -0.7 50.7 0 0 0 0 0.49
45 50 -0.8 50.8 0 0 0 0 0.64
46 50 -0.7 50.7 0 0 0 0 0.49
47 50 -0.8 50.8 0 0 0 0 0.64
48 50 -0.8 50.8 0 0 0 0 0.64
49 50 -0.8 50.8 0 0 0 0 0.64
50 50 -0.8 50.8 0 0 0 0 0.64
51 50 -0.8 50.8 0 0 0 0 0.64
52 50 -0.8 50.8 0 0 0 0 0.64
53 50 -0.8 50.8 0 0 0 0 0.64
54 50 -0.8 50.8 0 0 0 0 0.64
55 50 -0.8 50.8 0 0 0 0 0.64
56 50 -0.8 50.8 0 0 0 0 0.64
57 50 -2.3 52.3 0 0 0 0 5.29
58 50 -2.3 52.3 0 0 0 0 5.29
59 50 -2.3 52.3 0 0 0 0 5.29
60 50 -0.7 50.7 0 0 0 0 0.49
61 50 2.2 47.8 0 0 0 100 4.84
62 50 3.1 46.9 0 0 0 100 9.61
63 50 3.9 46.1 0 0 0 100 15.21
64 50 4.7 45.3 0 0 0 100 22.09
65 50 5.3 44.7 0 0 0 100 28.09
66 50 6.3 43.7 0 0 0 100 39.69
67 50 6.3 43.7 0 0 0 100 39.69
68 50 7.2 42.8 0 0 0 100 51.84
69 50 8.4 41.6 0 0 0 100 70.56
70 50 9.2 40.8 0 0 0 100 84.64
71 50 10.1 39.9 0 0 0 100 102.01
72 50 10.9 39.1 0 0 0 100 118.81
73 50 11.6 38.4 0 0 0 100 134.56
74 50 11.7 38.3 0 0 0 100 136.89
75 50 12.1 37.9 0 0 0 100 146.41
76 50 12.5 37.5 0 0 0 100 156.25
 77 50 12.5 37.5 0 0 0 100 156.25
78 50 12.5 37.5 0 0 0 100 156.25
79 50 12.3 37.7 0 0 0 100 151.29
80 50 11.6 38.4 0 0 0 100 134.56
81 50 10.9 39.1 0 0 0 100 118.81
82 50 9.4 40.6 0 0 0 100 88.36
83 50 9.4 40.6 0 0 0 100 88.36
84 50 8.3 41.7 0 0 0 100 68.89
85 50 6.5 43.5 0 0 0 100 42.25
86 50 5.6 44.4 0 0 0 100 31.36
87 50 4.3 45.7 0 0 0 100 18.49
88 50 3.4 46.6 0 0 0 100 11.56
89 50 3.4 46.6 0 0 0 100 11.56
90 50 2.2 47.8 0 0 0 100 4.84
91 50 2.2 47.8 0 0 0 100 4.84
92 50 -0.2 50.2 0 0 0 0 0.04
93 50 1.8 48.2 0 0 0 100 3.24
94 50 0.5 49.5 0 0 0 100 0.25
95 50 -0.2 50.2 0 0 0 0 0.04
96 50 -0.5 50.5 0 0 0 0 0.25
97 50 -0.6 50.6 0 0 0 0 0.36
98 50 -0.7 50.7 0 0 0 0 0.49
99 50 -0.8 50.8 0 0 0 0 0.64
100 50 -0.9 50.9 0 0 0 0 0.81
22647.
92

Sistem Pengendali P (Kp 10) Disturbance Rejection

Set
NO Point Error Level KP KI KD CO SSE
1697.4
0 50 41.2 8.8 10 0 0 100 4
1552.3
1 50 39.4 10.6 10 0 0 100 6
1413.7
2 50 37.6 12.4 10 0 0 100 6
1413.7
3 50 37.6 12.4 10 0 0 100 6
1332.2
4 50 36.5 13.5 10 0 0 100 5
1332.2
5 50 36.5 13.5 10 0 0 100 5
1176.4
6 50 34.3 15.7 10 0 0 100 9
 1062.7
7 50 32.6 17.4 10 0 0 100 6
8 50 31.2 18.8 10 0 0 100 973.44
9 50 30 20 10 0 0 100 900
10 50 28.6 21.4 10 0 0 100 817.96
11 50 27.5 22.5 10 0 0 100 756.25
12 50 26.3 23.7 10 0 0 100 691.69
13 50 25.2 24.8 10 0 0 100 635.04
14 50 24 26 10 0 0 100 576
15 50 22.9 27.1 10 0 0 100 524.41
16 50 22.9 27.1 10 0 0 100 524.41
17 50 21.9 28.1 10 0 0 100 479.61
18 50 19.5 30.5 10 0 0 100 380.25
19 50 18.2 31.8 10 0 0 100 331.24
20 50 17.2 32.8 10 0 0 100 295.84
21 50 15.8 34.2 10 0 0 100 249.64
22 50 15.8 34.2 10 0 0 100 249.64
23 50 14.4 35.6 10 0 0 100 207.36
24 50 11.4 38.6 10 0 0 100 129.96
25 50 10.2 39.8 10 0 0 100 104.04
26 50 9.2 40.8 10 0 0 91.8 84.64
27 50 8.3 41.7 10 0 0 82.9 68.89
28 50 6.6 43.4 10 0 0 66.5 43.56
29 50 5.6 44.4 10 0 0 56.4 31.36
30 50 4.6 45.4 10 0 0 46.4 21.16
31 50 3.6 46.4 10 0 0 36.1 12.96
32 50 2.4 47.6 10 0 0 23.8 5.76
33 50 2.4 47.6 10 0 0 24.4 5.76
34 50 3.8 46.2 10 0 0 38.1 14.44
35 50 3.3 46.7 10 0 0 32.5 10.89
36 50 2.5 47.5 10 0 0 24.6 6.25
37 50 -0.5 50.5 10 0 0 0 0.25
38 50 -0.5 50.5 10 0 0 0 0.25
39 50 0.7 49.3 10 0 0 6.7 0.49
40 50 1.1 48.9 10 0 0 10.7 1.21
41 50 1.5 48.5 10 0 0 14.8 2.25
42 50 1.5 48.5 10 0 0 14.8 2.25
43 50 1.4 48.6 10 0 0 14.2 1.96
44 50 1.4 48.6 10 0 0 14.1 1.96
45 50 1.4 48.6 10 0 0 13.9 1.96
46 50 -0.5 50.5 10 0 0 0 0.25
47 50 1.1 48.9 10 0 0 10.7 1.21
48 50 1.4 48.6 10 0 0 13.9 1.96
49 50 -0.5 50.5 10 0 0 0 0.25
50 50 -0.5 50.5 10 0 0 0 0.25
51 50 1 49 10 0 0 10.3 1
52 50 1 49 10 0 0 10.4 1
53 50 1.4 48.6 10 0 0 13.9 1.96
54 50 -0.9 50.9 10 0 0 0 0.81
55 50 1.1 48.9 10 0 0 10.8 1.21
56 50 1.4 48.6 10 0 0 13.7 1.96
57 50 0.3 49.7 10 0 0 3.4 0.09
58 50 1 49 10 0 0 9.6 1
59 50 2.8 47.2 10 0 0 27.7 7.84
60 50 1.9 48.1 10 0 0 19.4 3.61
61 50 1.9 48.1 10 0 0 19.4 3.61
62 50 3.9 46.1 10 0 0 39.3 15.21
63 50 3.9 46.1 10 0 0 39.3 15.21
64 50 4.7 45.3 10 0 0 46.9 22.09
65 50 5.7 44.3 10 0 0 56.7 32.49
66 50 6.5 43.5 10 0 0 64.6 42.25
67 50 7.6 42.4 10 0 0 75.7 57.76
68 50 8.3 41.7 10 0 0 82.7 68.89
69 50 9.7 40.3 10 0 0 97.1 94.09
70 50 10.1 39.9 10 0 0 100 102.01
71 50 10.1 39.9 10 0 0 100 102.01
72 50 10.9 39.1 10 0 0 100 118.81
73 50 12 38 10 0 0 100 144
74 50 12.7 37.3 10 0 0 100 161.29
75 50 13.8 36.2 10 0 0 100 190.44
76 50 13.8 36.2 10 0 0 100 190.44
77 50 14.7 35.3 10 0 0 100 216.09
78 50 14.7 35.3 10 0 0 100 216.09
79 50 13.9 36.1 10 0 0 100 193.21
80 50 13.9 36.1 10 0 0 100 193.21
81 50 12.3 37.7 10 0 0 100 151.29
82 50 10.1 39.9 10 0 0 100 102.01
83 50 9.1 40.9 10 0 0 90.6 82.81
84 50 7 43 10 0 0 70.3 49
85 50 6.1 43.9 10 0 0 61.2 37.21
86 50 5.2 44.8 10 0 0 52.4 27.04
87 50 5.2 44.8 10 0 0 52.4 27.04
88 50 4.2 45.8 10 0 0 42.4 17.64
89 50 2.7 47.3 10 0 0 27.2 7.29
90 50 1.3 48.7 10 0 0 12.9 1.69
 91 50 1.5 48.5 10 0 0 15.5 2.25
92 50 1.5 48.5 10 0 0 15.5 2.25
93 50 2.6 47.4 10 0 0 26.1 6.76
94 50 1.7 48.3 10 0 0 17.2 2.89
95 50 1.7 48.3 10 0 0 17.2 2.89
96 50 1.6 48.4 10 0 0 15.8 2.56
97 50 1.6 48.4 10 0 0 15.8 2.56
98 50 1.5 48.5 10 0 0 14.8 2.25
99 50 1.4 48.6 10 0 0 14.4 1.96
100 50 -0.5 50.5 10 0 0 0 0.25
22859.
34

Sistem Pengendali P (Kp 15) Disturbance Rejection

Set
NO Point Error Level KP KI KD CO SSE
1672.8
0 50 40.9 9.1 15 0 0 100 1
1560.2
1 50 39.5 10.5 15 0 0 100 5
1560.2
2 50 39.5 10.5 15 0 0 100 5
1459.2
3 50 38.2 11.8 15 0 0 100 4
1339.5
4 50 36.6 13.4 15 0 0 100 6
1339.5
5 50 36.6 13.4 15 0 0 100 6
1246.0
6 50 35.3 14.7 15 0 0 100 9
1102.2
7 50 33.2 16.8 15 0 0 100 4
1030.4
8 50 32.1 17.9 15 0 0 100 1
9 50 30 20 15 0 0 100 900
10 50 28.6 21.4 15 0 0 100 817.96
11 50 27.5 22.5 15 0 0 100 756.25
12 50 27.5 22.5 15 0 0 100 756.25
13 50 26.3 23.7 15 0 0 100 691.69
14 50 23.9 26.1 15 0 0 100 571.21
15 50 23.9 26.1 15 0 0 100 571.21
16 50 22.8 27.2 15 0 0 100 519.84
17 50 22.8 27.2 15 0 0 100 519.84
18 50 20.7 29.3 15 0 0 100 428.49
19 50 18.8 31.2 15 0 0 100 353.44
20 50 16.6 33.4 15 0 0 100 275.56
21 50 16.6 33.4 15 0 0 100 275.56
22 50 15.7 34.3 15 0 0 100 246.49
23 50 15.7 34.3 15 0 0 100 246.49
24 50 12.3 37.7 15 0 0 100 151.29
25 50 10.7 39.3 15 0 0 100 114.49
26 50 9.3 40.7 15 0 0 100 86.49
27 50 7.4 42.6 15 0 0 100 54.76
28 50 7.4 42.6 15 0 0 100 54.76
29 50 6.4 43.6 15 0 0 95.7 40.96
30 50 5.2 44.8 15 0 0 78.2 27.04
31 50 4 46 15 0 0 59.8 16
32 50 3.1 46.9 15 0 0 46.2 9.61
33 50 1.5 48.5 15 0 0 22.2 2.25
34 50 1.5 48.5 15 0 0 22.2 2.25
35 50 1.9 48.1 15 0 0 27.8 3.61
36 50 2.6 47.4 15 0 0 38.8 6.76
37 50 1.8 48.2 15 0 0 27.7 3.24
38 50 1.7 48.3 15 0 0 25.3 2.89
39 50 1.1 48.9 15 0 0 16.5 1.21
40 50 1 49 15 0 0 14.7 1
41 50 0.7 49.3 15 0 0 11 0.49
42 50 0.7 49.3 15 0 0 10.1 0.49
43 50 0.7 49.3 15 0 0 10.1 0.49
44 50 1 49 15 0 0 14.3 1
45 50 1 49 15 0 0 15.2 1
46 50 1.1 48.9 15 0 0 16 1.21
47 50 0.9 49.1 15 0 0 13.7 0.81
48 50 0.9 49.1 15 0 0 13.7 0.81
49 50 0.7 49.3 15 0 0 9.8 0.49
50 50 0.9 49.1 15 0 0 13.8 0.81
51 50 0.8 49.2 15 0 0 11.8 0.64
52 50 0.8 49.2 15 0 0 11.8 0.64
53 50 0.6 49.4 15 0 0 8.5 0.36
54 50 0.9 49.1 15 0 0 13.8 0.81
55 50 0.7 49.3 15 0 0 10.4 0.49
56 50 0.9 49.1 15 0 0 13.3 0.81
57 50 0.7 49.3 15 0 0 11.1 0.49
58 50 0.9 49.1 15 0 0 13.3 0.81
59 50 2.6 47.4 15 0 0 39.7 6.76
60 50 1 49 15 0 0 14.7 1
 61 50 2.8 47.2 15 0 0 42.1 7.84
62 50 3.6 46.4 15 0 0 53.8 12.96
63 50 4.7 45.3 15 0 0 70.1 22.09
64 50 4.7 45.3 15 0 0 70.1 22.09
65 50 5.3 44.7 15 0 0 79.5 28.09
66 50 6.5 43.5 15 0 0 97 42.25
67 50 7.2 42.8 15 0 0 100 51.84
68 50 8.3 41.7 15 0 0 100 68.89
69 50 9.3 40.7 15 0 0 100 86.49
70 50 10.2 39.8 15 0 0 100 104.04
71 50 10.2 39.8 15 0 0 100 104.04
72 50 11.1 38.9 15 0 0 100 123.21
73 50 12.3 37.7 15 0 0 100 151.29
74 50 12.8 37.2 15 0 0 100 163.84
75 50 12.8 37.2 15 0 0 100 163.84
76 50 14.2 35.8 15 0 0 100 201.64
77 50 15.1 34.9 15 0 0 100 228.01
78 50 15.1 34.9 15 0 0 100 228.01
79 50 14.7 35.3 15 0 0 100 216.09
80 50 12.7 37.3 15 0 0 100 161.29
81 50 11.5 38.5 15 0 0 100 132.25
82 50 11.5 38.5 15 0 0 100 132.25
83 50 10.1 39.9 15 0 0 100 102.01
84 50 7.8 42.2 15 0 0 100 60.84
85 50 7.8 42.2 15 0 0 100 60.84
86 50 6.1 43.9 15 0 0 92 37.21
87 50 5.5 44.5 15 0 0 81.9 30.25
88 50 5.5 44.5 15 0 0 81.9 30.25
89 50 3.2 46.8 15 0 0 48.3 10.24
90 50 1.2 48.8 15 0 0 18 1.44
91 50 3.8 46.2 15 0 0 57.4 14.44
92 50 1.5 48.5 15 0 0 22.2 2.25
93 50 2.1 47.9 15 0 0 32.1 4.41
94 50 1.4 48.6 15 0 0 21.4 1.96
95 50 0.8 49.2 15 0 0 11.5 0.64
96 50 0.7 49.3 15 0 0 9.9 0.49
97 50 0.7 49.3 15 0 0 9.8 0.49
98 50 0.4 49.6 15 0 0 6.3 0.16
99 50 0.6 49.4 15 0 0 9.6 0.36
100 50 -1.6 51.6 15 0 0 0 2.56
23652.
89
 Sistem Pengendali PI (Kp 10, Ki 20 ) Disturbance Rejection
Set
NO Point Error Level KP KI KD CO SSE
0 50 41 9 10 20 0 100 1681
1505.4
1 50 38.8 11.2 10 20 0 100 4
1406.2
2 50 37.5 12.5 10 20 0 100 5
1324.9
3 50 36.4 13.6 10 20 0 100 6
1324.9
4 50 36.4 13.6 10 20 0 100 6
1239.0
5 50 35.2 14.8 10 20 0 100 4
1135.6
6 50 33.7 16.3 10 20 0 100 9
1062.7
7 50 32.6 17.4 10 20 0 100 6
8 50 31.2 18.8 10 20 0 100 973.44
9 50 29.3 20.7 10 20 0 100 858.49
10 50 27.9 22.1 10 20 0 100 778.41
11 50 26.9 23.1 10 20 0 100 723.61
12 50 26.9 23.1 10 20 0 100 723.61
13 50 25.8 24.2 10 20 0 100 665.64
14 50 23.8 26.2 10 20 0 100 566.44
15 50 22.8 27.2 10 20 0 100 519.84
16 50 21.8 28.2 10 20 0 100 475.24
17 50 21.8 28.2 10 20 0 100 475.24
18 50 19.9 30.1 10 20 0 100 396.01
19 50 18.1 31.9 10 20 0 100 327.61
20 50 17 33 10 20 0 100 289
21 50 15.6 34.4 10 20 0 100 243.36
22 50 15.6 34.4 10 20 0 100 243.36
23 50 14.2 35.8 10 20 0 100 201.64
24 50 11.9 38.1 10 20 0 100 141.61
25 50 10.5 39.5 10 20 0 100 110.25
26 50 8.5 41.5 10 20 0 100 72.25
27 50 7.3 42.7 10 20 0 98.6 53.29
28 50 6.4 43.6 10 20 0 90.3 40.96
29 50 5.9 44.1 10 20 0 85.2 34.81
30 50 3.9 46.1 10 20 0 65.3 15.21
31 50 2.9 47.1 10 20 0 55.2 8.41
32 50 2.9 47.1 10 20 0 55.2 8.41
33 50 1.4 48.6 10 20 0 27.7 1.96
34 50 -0.4 50.4 10 20 0 0 0.16
35 50 2.2 47.8 10 20 0 43.2 4.84
36 50 2.2 47.8 10 20 0 43.2 4.84
37 50 1.4 48.6 10 20 0 28.6 1.96
38 50 0.6 49.4 10 20 0 12.4 0.36
39 50 1.4 48.6 10 20 0 28.2 1.96
40 50 1.4 48.6 10 20 0 28.2 1.96
41 50 0.8 49.2 10 20 0 16 0.64
42 50 -1.6 51.6 10 20 0 0 2.56
43 50 -1.6 51.6 10 20 0 0 2.56
44 50 -1.6 51.6 10 20 0 0 2.56
45 50 0.6 49.4 10 20 0 12.8 0.36
46 50 0.6 49.4 10 20 0 12.8 0.36
47 50 0.6 49.4 10 20 0 11.8 0.36
48 50 0.6 49.4 10 20 0 11.6 0.36
49 50 0.6 49.4 10 20 0 11.3 0.36
50 50 0.6 49.4 10 20 0 11.3 0.36
51 50 0.6 49.4 10 20 0 11.2 0.36
52 50 0.6 49.4 10 20 0 11.2 0.36
53 50 0.6 49.4 10 20 0 11.1 0.36
54 50 -1.8 51.8 10 20 0 0 3.24
55 50 -1.4 51.4 10 20 0 0 1.96
56 50 -1.9 51.9 10 20 0 0 3.61
57 50 -1.4 51.4 10 20 0 0 1.96
58 50 0.3 49.7 10 20 0 6.4 0.09
59 50 0.5 49.5 10 20 0 9.7 0.25
60 50 2.1 47.9 10 20 0 42.9 4.41
61 50 3 47 10 20 0 56 9
62 50 4.2 45.8 10 20 0 68.1 17.64
63 50 4.9 45.1 10 20 0 74.6 24.01
64 50 5.5 44.5 10 20 0 80.7 30.25
65 50 6.3 43.7 10 20 0 88.8 39.69
66 50 7.2 42.8 10 20 0 97.6 51.84
67 50 8.1 41.9 10 20 0 100 65.61
68 50 9 41 10 20 0 100 81
69 50 10 40 10 20 0 100 100
70 50 10.9 39.1 10 20 0 100 118.81
71 50 11.7 38.3 10 20 0 100 136.89
72 50 12.3 37.7 10 20 0 100 151.29
73 50 12.9 37.1 10 20 0 100 166.41
74 50 13.6 36.4 10 20 0 100 184.96
75 50 14.7 35.3 10 20 0 100 216.09
 76 50 14.7 35.3 10 20 0 100 216.09
77 50 15.5 34.5 10 20 0 100 240.25
78 50 15 35 10 20 0 100 225
79 50 15 35 10 20 0 100 225
80 50 13.2 36.8 10 20 0 100 174.24
81 50 13.2 36.8 10 20 0 100 174.24
82 50 10.7 39.3 10 20 0 100 114.49
83 50 8.8 41.2 10 20 0 100 77.44
84 50 7.7 42.3 10 20 0 100 59.29
85 50 6.7 43.3 10 20 0 93.3 44.89
86 50 5.5 44.5 10 20 0 81.1 30.25
87 50 4.1 45.9 10 20 0 66.9 16.81
88 50 3.1 46.9 10 20 0 56.9 9.61
89 50 3.1 46.9 10 20 0 56.9 9.61
90 50 1.7 48.3 10 20 0 34.6 2.89
91 50 -0.1 50.1 10 20 0 0 0.01
92 50 -0.9 50.9 10 20 0 0 0.81
93 50 -0.9 50.9 10 20 0 0 0.81
94 50 -1.7 51.7 10 20 0 0 2.89
95 50 1.4 48.6 10 20 0 28.4 1.96
96 50 -0.7 50.7 10 20 0 0 0.49
97 50 -2.5 52.5 10 20 0 0 6.25
98 50 -3.3 53.3 10 20 0 0 10.89
99 50 0.2 49.8 10 20 0 3.1 0.04
100 50 0.2 49.8 10 20 0 3.5 0.04
22709.
14

Sistem Pengendali PI (Kp 10, Ki 30 ) Disturbance Rejection

Set
NO Point Error Level KP KI KD CO SSE
1713.9
0 50 41.4 8.6 10 30 0 0 6
1640.2
1 50 40.5 9.5 10 30 0 100 5
1482.2
2 50 38.5 11.5 10 30 0 100 5
1482.2
3 50 38.5 11.5 10 30 0 100 5
1383.8
4 50 37.2 12.8 10 30 0 100 4
1218.0
5 50 34.9 15.1 10 30 0 100 1
 1149.2
6 50 33.9 16.1 10 30 0 100 1
1082.4
7 50 32.9 17.1 10 30 0 100 1
8 50 31.6 18.4 10 30 0 100 998.56
9 50 30.3 19.7 10 30 0 100 918.09
10 50 28.9 21.1 10 30 0 100 835.21
11 50 27.6 22.4 10 30 0 100 761.76
12 50 26.4 23.6 10 30 0 100 696.96
13 50 24.8 25.2 10 30 0 100 615.04
14 50 24.8 25.2 10 30 0 100 615.04
15 50 23.5 26.5 10 30 0 100 552.25
16 50 21.5 28.5 10 30 0 100 462.25
17 50 20.2 29.8 10 30 0 100 408.04
18 50 20.2 29.8 10 30 0 100 408.04
19 50 19 31 10 30 0 100 361
20 50 16.8 33.2 10 30 0 100 282.24
21 50 16.8 33.2 10 30 0 100 282.24
22 50 15.8 34.2 10 30 0 100 249.64
23 50 15.8 34.2 10 30 0 100 249.64
24 50 12.5 37.5 10 30 0 100 156.25
25 50 10.8 39.2 10 30 0 100 116.64
26 50 9.5 40.5 10 30 0 100 90.25
27 50 8.3 41.7 10 30 0 100 68.89
28 50 6.7 43.3 10 30 0 93.2 44.89
29 50 5.6 44.4 10 30 0 82.3 31.36
30 50 4.7 45.3 10 30 0 72.6 22.09
31 50 3.7 46.3 10 30 0 62.6 13.69
32 50 2.5 47.5 10 30 0 51.2 6.25
33 50 2.5 47.5 10 30 0 51.2 6.25
34 50 1 49 10 30 0 24.4 1
35 50 1.6 48.4 10 30 0 39 2.56
36 50 2.6 47.4 10 30 0 51.6 6.76
37 50 0.2 49.8 10 30 0 5.6 0.04
38 50 1.6 48.4 10 30 0 39.1 2.56
39 50 1.1 48.9 10 30 0 26.4 1.21
40 50 1.1 48.9 10 30 0 26.4 1.21
41 50 -2 52 10 30 0 0 4
42 50 0.2 49.8 10 30 0 5.4 0.04
43 50 0.2 49.8 10 30 0 5.3 0.04
44 50 -2.1 52.1 10 30 0 0 4.41
45 50 -1.6 51.6 10 30 0 0 2.56
46 50 -1.1 51.1 10 30 0 0 1.21
47 50 -1.7 51.7 10 30 0 0 2.89
48 50 0.2 49.8 10 30 0 4.3 0.04
49 50 0.2 49.8 10 30 0 4.3 0.04
50 50 0.1 49.9 10 30 0 3.2 0.01
51 50 0.1 49.9 10 30 0 3.2 0.01
52 50 -0.3 50.3 10 30 0 0 0.09
53 50 0.3 49.7 10 30 0 6.4 0.09
54 50 0.2 49.8 10 30 0 5.1 0.04
55 50 -2.1 52.1 10 30 0 0 4.41
56 50 -2.1 52.1 10 30 0 0 4.41
57 50 -0.3 50.3 10 30 0 0 0.09
58 50 -1.6 51.6 10 30 0 0 2.56
59 50 1.5 48.5 10 30 0 38.6 2.25
60 50 1.4 48.6 10 30 0 34.4 1.96
61 50 2.3 47.7 10 30 0 49.4 5.29
62 50 3.1 46.9 10 30 0 57.5 9.61
63 50 3.8 46.2 10 30 0 64.2 14.44
64 50 3.8 46.2 10 30 0 64.2 14.44
65 50 4.7 45.3 10 30 0 73 22.09
66 50 6.1 43.9 10 30 0 87.1 37.21
67 50 7.4 42.6 10 30 0 99.8 54.76
68 50 7.8 42.2 10 30 0 100 60.84
69 50 8.5 41.5 10 30 0 100 72.25
70 50 8.5 41.5 10 30 0 100 72.25
71 50 9.4 40.6 10 30 0 100 88.36
72 50 10.6 39.4 10 30 0 100 112.36
73 50 11.5 38.5 10 30 0 100 132.25
74 50 12.6 37.4 10 30 0 100 158.76
75 50 13.6 36.4 10 30 0 100 184.96
76 50 13.6 36.4 10 30 0 100 184.96
77 50 14.8 35.2 10 30 0 100 219.04
78 50 15 35 10 30 0 100 225
79 50 14.9 35.1 10 30 0 100 222.01
80 50 13.8 36.2 10 30 0 100 190.44
81 50 11.8 38.2 10 30 0 100 139.24
82 50 11.8 38.2 10 30 0 100 139.24
83 50 10.2 39.8 10 30 0 100 104.04
84 50 8.3 41.7 10 30 0 100 68.89
85 50 8.3 41.7 10 30 0 100 68.89
86 50 7 43 10 30 0 96.3 49
87 50 5.2 44.8 10 30 0 77.8 27.04
88 50 5.2 44.8 10 30 0 77.8 27.04
 89 50 4.2 45.8 10 30 0 67.7 17.64
90 50 2 48 10 30 0 45.9 4
91 50 0.7 49.3 10 30 0 17.9 0.49
92 50 -0.1 50.1 10 30 0 0 0.01
93 50 -0.1 50.1 10 30 0 0 0.01
94 50 -1.6 51.6 10 30 0 0 2.56
95 50 1.3 48.7 10 30 0 32.5 1.69
96 50 0.6 49.4 10 30 0 13.9 0.36
97 50 0.5 49.5 10 30 0 12.1 0.25
98 50 -0.7 50.7 10 30 0 0 0.49
99 50 -0.7 50.7 10 30 0 0 0.49
100 50 0.1 49.9 10 30 0 3.2 0.01
23183.
93

Sistem Pengendali PID (Kp 10, Ki 20, Kd 35 ) Disturbance Rejection

Set
NO Point Error Level KP KI KD CO SSE
1552.3
0 50 39.4 10.6 10 20 35 100 6
1459.2
1 50 38.2 11.8 10 20 35 100 4
2 50 37 13 10 20 35 100 1369
3 50 37 13 10 20 35 100 1369
1281.6
4 50 35.8 14.2 10 20 35 100 4
1176.4
5 50 34.3 15.7 10 20 35 100 9
1102.2
6 50 33.2 16.8 10 20 35 100 4
7 50 31.3 18.7 10 20 35 100 979.69
8 50 31.3 18.7 10 20 35 100 979.69
9 50 30 20 10 20 35 100 900
10 50 28.1 21.9 10 20 35 100 789.61
11 50 26.9 23.1 10 20 35 100 723.61
12 50 25.2 24.8 10 20 35 100 635.04
13 50 24 26 10 20 35 100 576
14 50 22.9 27.1 10 20 35 100 524.41
15 50 22.9 27.1 10 20 35 100 524.41
16 50 21.9 28.1 10 20 35 100 479.61
17 50 20 30 10 20 35 100 400
18 50 18.9 31.1 10 20 35 100 357.21
19 50 17.7 32.3 10 20 35 100 313.29
20 50 16.2 33.8 10 20 35 100 262.44
21 50 14.9 35.1 10 20 35 100 222.01
22 50 13.4 36.6 10 20 35 100 179.56
23 50 12.1 37.9 10 20 35 100 146.41
24 50 10 40 10 20 35 100 100
25 50 10 40 10 20 35 100 100
26 50 8.7 41.3 10 20 35 100 75.69
27 50 6.9 43.1 10 20 35 100 47.61
28 50 5.8 44.2 10 20 35 100 33.64
29 50 4.4 45.6 10 20 35 100 19.36
30 50 3.4 46.6 10 20 35 100 11.56
31 50 2.2 47.8 10 20 35 100 4.84
32 50 0.8 49.2 10 20 35 100 0.64
33 50 0.8 49.2 10 20 35 100 0.64
34 50 -0.4 50.4 10 20 35 100 0.16
35 50 -2.3 52.3 10 20 35 100 5.29
36 50 -2.3 52.3 10 20 35 100 5.29
37 50 -3.5 53.5 10 20 35 100 12.25
38 50 -5.9 55.9 10 20 35 100 34.81
39 50 -5.9 55.9 10 20 35 100 34.81
40 50 -7.5 57.5 10 20 35 100 56.25
41 50 -9.3 59.3 10 20 35 100 86.49
42 50 -11 61 10 20 35 100 121
43 50 -12.1 62.1 10 20 35 100 146.41
44 50 -12.1 62.1 10 20 35 100 146.41
45 50 -13.2 63.2 10 20 35 100 174.24
46 50 -15 65 10 20 35 100 225
47 50 -16 66 10 20 35 100 256
48 50 -17.3 67.3 10 20 35 100 299.29
49 50 -18.5 68.5 10 20 35 79.6 342.25
50 50 -19.7 69.7 10 20 35 0 388.09
51 50 -20.3 70.3 10 20 35 0 412.09
52 50 -20.9 70.9 10 20 35 0 436.81
53 50 -21.5 71.5 10 20 35 0 462.25
54 50 -22.4 72.4 10 20 35 0 501.76
55 50 -18.6 68.6 10 20 35 0 345.96
56 50 -18.6 68.6 10 20 35 0 345.96
57 50 -18.6 68.6 10 20 35 0 345.96
58 50 -19.4 69.4 10 20 35 10 376.36
59 50 -19.4 69.4 10 20 35 10 376.36
60 50 -17.5 67.5 10 20 35 100 306.25
61 50 -16.3 66.3 10 20 35 100 265.69
62 50 -15.4 65.4 10 20 35 100 237.16
63 50 -14 64 10 20 35 100 196
64 50 -13.1 63.1 10 20 35 100 171.61
65 50 -12.3 62.3 10 20 35 100 151.29
66 50 -12.3 62.3 10 20 35 100 151.29
67 50 -11.4 61.4 10 20 35 100 129.96
68 50 -10 60 10 20 35 100 100
69 50 -9.1 59.1 10 20 35 100 82.81
70 50 -9.1 59.1 10 20 35 100 82.81
71 50 -7.6 57.6 10 20 35 100 57.76
72 50 -6.5 56.5 10 20 35 100 42.25
73 50 -5.7 55.7 10 20 35 100 32.49
74 50 -4.1 54.1 10 20 35 100 16.81
75 50 -2.9 52.9 10 20 35 100 8.41
76 50 -2.4 52.4 10 20 35 100 5.76
77 50 -2.4 52.4 10 20 35 100 5.76
78 50 -2.4 52.4 10 20 35 100 5.76
79 50 -3.6 53.6 10 20 35 100 12.96
80 50 -5.4 55.4 10 20 35 100 29.16
81 50 -5.4 55.4 10 20 35 100 29.16
82 50 -6.5 56.5 10 20 35 100 42.25
83 50 -8.7 58.7 10 20 35 100 75.69
84 50 -9.7 59.7 10 20 35 100 94.09
85 50 -10.8 60.8 10 20 35 100 116.64
86 50 -12.4 62.4 10 20 35 100 153.76
87 50 -13.3 63.3 10 20 35 100 176.89
88 50 -13.3 63.3 10 20 35 100 176.89
89 50 -14.5 64.5 10 20 35 100 210.25
90 50 -16.8 66.8 10 20 35 100 282.24
91 50 -18 68 10 20 35 100 324
92 50 -18 68 10 20 35 100 324
93 50 -19.2 69.2 10 20 35 21.8 368.64
94 50 -20.6 70.6 10 20 35 0 424.36
95 50 -21.2 71.2 10 20 35 0 449.44
96 50 -22 72 10 20 35 0 484
97 50 -19.8 69.8 10 20 35 0 392.04
98 50 -19.8 69.8 10 20 35 0 392.04
 99 50 -18 68 10 20 35 0 324
100 50 -18 68 10 20 35 4.3 324
31890.
86

Sistem Pengendali PID (Kp 10, Ki 20, Kd 40 ) Disturbance Rejection

Set
NO Point Error Level KP KI KD CO SSE
1497.6
0 50 38.7 11.3 10 20 40 100 9
1398.7
1 50 37.4 12.6 10 20 40 100 6
1398.7
2 50 37.4 12.6 10 20 40 100 6
1317.6
3 50 36.3 13.7 10 20 40 100 9
1197.1
4 50 34.6 15.4 10 20 40 100 6
1135.6
5 50 33.7 16.3 10 20 40 100 9
6 50 32 18 10 20 40 100 1024
7 50 30.6 19.4 10 20 40 100 936.36
8 50 29.3 20.7 10 20 40 100 858.49
9 50 28.1 21.9 10 20 40 100 789.61
10 50 26.9 23.1 10 20 40 100 723.61
11 50 25.8 24.2 10 20 40 100 665.64
12 50 24.6 25.4 10 20 40 100 605.16
13 50 24.6 25.4 10 20 40 100 605.16
14 50 23.4 26.6 10 20 40 100 547.56
15 50 21.9 28.1 10 20 40 100 479.61
16 50 20.8 29.2 10 20 40 100 432.64
17 50 19 31 10 20 40 100 361
18 50 19 31 10 20 40 100 361
19 50 17.8 32.2 10 20 40 100 316.84
20 50 16 34 10 20 40 100 256
21 50 13.9 36.1 10 20 40 100 193.21
22 50 13.9 36.1 10 20 40 100 193.21
23 50 12.4 37.6 10 20 40 100 153.76
24 50 10.8 39.2 10 20 40 100 116.64
25 50 9.4 40.6 10 20 40 100 88.36
26 50 7.8 42.2 10 20 40 100 60.84
27 50 7.8 42.2 10 20 40 100 60.84
28 50 6.3 43.7 10 20 40 100 39.69
29 50 3.7 46.3 10 20 40 100 13.69
30 50 2.7 47.3 10 20 40 100 7.29
31 50 1.5 48.5 10 20 40 100 2.25
32 50 0.5 49.5 10 20 40 100 0.25
33 50 -0.6 50.6 10 20 40 100 0.36
34 50 -1.9 51.9 10 20 40 100 3.61
35 50 -2.7 52.7 10 20 40 100 7.29
36 50 -2.7 52.7 10 20 40 100 7.29
37 50 -3.5 53.5 10 20 40 100 12.25
38 50 -7.3 57.3 10 20 40 100 53.29
39 50 -7.3 57.3 10 20 40 100 53.29
40 50 -7.3 57.3 10 20 40 100 53.29
41 50 -8.4 58.4 10 20 40 100 70.56
42 50 -9.7 59.7 10 20 40 100 94.09
43 50 -11.5 61.5 10 20 40 100 132.25
44 50 -12.4 62.4 10 20 40 100 153.76
45 50 -13.6 63.6 10 20 40 100 184.96
46 50 -14.8 64.8 10 20 40 100 219.04
47 50 -14.8 64.8 10 20 40 100 219.04
48 50 -15.8 65.8 10 20 40 100 249.64
49 50 -19.4 69.4 10 20 40 47.4 376.36
50 50 -19.2 69.2 10 20 40 55.6 368.64
51 50 -19.2 69.2 10 20 40 55.6 368.64
52 50 -20 70 10 20 40 0 400
53 50 -15.2 65.2 10 20 40 100 231.04
54 50 -15.6 65.6 10 20 40 100 243.36
55 50 -16 66 10 20 40 100 256
56 50 -16.2 66.2 10 20 40 100 262.44
57 50 -16.5 66.5 10 20 40 100 272.25
58 50 -17.7 67.7 10 20 40 57 313.29
59 50 -17.7 67.7 10 20 40 57 313.29
60 50 -22 72 10 20 40 0 484
61 50 -15 65 10 20 40 100 225
62 50 -19.1 69.1 10 20 40 71.2 364.81
63 50 -18 68 10 20 40 100 324
64 50 -16.9 66.9 10 20 40 100 285.61
65 50 -15.4 65.4 10 20 40 100 237.16
66 50 -15.4 65.4 10 20 40 100 237.16
67 50 -14.4 64.4 10 20 40 100 207.36
68 50 -13.1 63.1 10 20 40 100 171.61
69 50 -11.2 61.2 10 20 40 100 125.44
70 50 -11.2 61.2 10 20 40 100 125.44
71 50 -10.3 60.3 10 20 40 100 106.09
 72 50 -9.1 59.1 10 20 40 100 82.81
73 50 -8 58 10 20 40 100 64
74 50 -7.2 57.2 10 20 40 100 51.84
75 50 -7.2 57.2 10 20 40 100 51.84
76 50 -6 56 10 20 40 100 36
77 50 -4.4 54.4 10 20 40 100 19.36
78 50 -4.2 54.2 10 20 40 100 17.64
79 50 -4.2 54.2 10 20 40 100 17.64
80 50 -5.6 55.6 10 20 40 100 31.36
81 50 -5.6 55.6 10 20 40 100 31.36
82 50 -7.4 57.4 10 20 40 100 54.76
83 50 -9 59 10 20 40 100 81
84 50 -10.2 60.2 10 20 40 100 104.04
85 50 -11.3 61.3 10 20 40 100 127.69
86 50 -12.8 62.8 10 20 40 100 163.84
87 50 -12.8 62.8 10 20 40 100 163.84
88 50 -13.9 63.9 10 20 40 100 193.21
89 50 -15.6 65.6 10 20 40 100 243.36
90 50 -16.8 66.8 10 20 40 100 282.24
91 50 -18.7 68.7 10 20 40 100 349.69
92 50 -19.7 69.7 10 20 40 25.2 388.09
93 50 -15 65 10 20 40 100 225
94 50 -15 65 10 20 40 100 225
95 50 -15.3 65.3 10 20 40 100 234.09
96 50 -21.6 71.6 10 20 40 0 466.56
97 50 -22.1 72.1 10 20 40 0 488.41
98 50 -22.6 72.6 10 20 40 0 510.76
99 50 -23.1 73.1 10 20 40 0 533.61
100 50 -20.9 70.9 10 20 40 0 436.81
31327.
31